Three-dimensional image capture system

ABSTRACT

An image capturing system utilizes a plurality of image capturing apparatus to capture first image data for an object. A processor is utilized to combine the first images to produce first three-dimensional digital image data. The processor then utilizes a second algorithm to combine the intermediate digital image information to produce a complete three-dimensional digital image of the object. The three-dimensional image may be viewed on a display and viewed from any point on a three dimensional surface surrounding the object. The object can be non-stationary.

FIELD OF THE INVENTION

This invention pertains to imaging systems, in general, and to athree-dimensional imaging system for capturing three-dimensional imagesof an object that is not constrained from moving.

BACKGROUND OF THE INVENTION

Various systems are known for the capturing of images of objectsincluding live objects. One category of such systems typically utilizesa scanning technology with lasers or other beam emitting sources. Thedifficulty with systems of this type is that to scan a three-dimensionalobject, the scan times limit use of the systems to stationary objects.

A second category of image captures systems utilizes triangulatedcameras with or without projection of structured light patterns on theobject. However, these systems typically are arranged to capture athree-dimensional image of only a portion of the object. Typically suchsystems also are used only with stationary objects.

It is highly desirable to provide an image capturing system that willcapture three-dimensional images of objects that are not stationary, butwhich may move. It is also desirable that the three-dimensional imagehas high resolution and high accuracy. It is particularly desirable thatthe three-dimensional image captures the totality of the object.

It is particularly desirable to provide an image capturing system thatwill have the ability to capture an accurate three-dimensional image ofan infant's head. Capturing of such an image has not been possible withprior image capturing systems for a variety of reasons, one of whichbeing that infants are not stationary for the times that prior systemsrequire to scan or capture the data necessary to produce athree-dimensional image. Another reason is that prior systems could onlyacquire a partial three-dimensional imager portion. The need for such asystem is for producing cranial remodeling bands is great.

Treatment of infants with deformational plagiocephaly with cranialremodeling bands has become a standard of care in the United States. Theprocess by which a cranial remodeling band is fabricated requiresobtaining a negative or ‘cast’ impression of the child's head. This isaccomplished by first pulling a cotton stockinet over the child's head,and then casting the head with quick setting, low temperature plastersplints.

The casting technique takes approximately 7 to 10 minutes. After theinitial casting, a plaster model of the infant's head is made and isused for the fabrication of the cranial remodeling band.

It is highly desirable to simplify the process by utilizing digitizationtechniques to produce useful digital three-dimensional images of theentire head. We undertook an exhaustive search to identify and evaluatedifferent digitization techniques. Numerous laser scanning, structuredlight, Moire, and triangulated CCD camera systems were evaluated andrejected as inadequate for one reason or another.

Prior digitization techniques and systems fail to recognize theparticular unique challenges and requirements necessary for a system forthe digitization of infants. The infant patients to be digitized rangein age from three to eighteen months of age. The younger infants are notable to follow verbal instructions and are not able to demonstrate headcontrol while the older infants are difficult to control to more than abrief moment of time. A wide variety of head configurations, skin tone,and hair configurations also needed to be captured. A digitizationsystem must acquire the image in a fraction of a second so that thechild would not need to be restrained during image capture, and so thatmovement during image acquisition would not affect the data. The systemdata capture must be repeatable, accurate and safe for regular repeateduse. In addition, to be used in a clinical setting the system had to berobust, easy to use, and easy to calibrate and maintain without the needfor hiring additional technical staff to run the equipment. Imageacquisition, processing, and viewing of the data had to be performed inreal time in order to ensure that no data was missing before allowingthe patient to leave the office.

Numerous existing digitization techniques were evaluated. Laser scanningmethods have the disadvantage of the long time, typically 14–20 seconds,that is required to scan an object. Because of the long time, an infantbeing scanned would have to be restrained in a specific orientation forthe scan time. Recent advances in laser scanning have produced scansystems that can perform a scan in 1–2 seconds. However even this scanrate is too slow for an unrestrained infant. The use of lasers alsoraises concerns regarding their appropriateness and safety for use withan infant population. While many prior digitization systems use ‘eyesafe’ lasers, the use of protective goggles is still frequentlyrecommended.

Structured-light Moire and phase-shifted Moire systems used in certain3D imaging systems are difficult to calibrate, are costly, and arerelatively slow and therefore are not suitable for use in obtainingimages of infants. In addition these systems are incapable of capturingthe entirety of an object in one time instant.

Computed Tomography (CT) and Magnetic Resonance Imaging (MRI) are notparticularly useful for the present application simply due to size,expense and concerns regarding radiation and the need to anesthetize theinfant.

Prior systems that rely solely on triangulation of digital camerasproved to have insufficient accuracies, particularly as the object beingimaged varied in shape and size from a calibration standard.

Structured light systems that combined triangulated digital cameras witha projected grid or line pattern can capture only one surface at a timebecause the grids projected by multiple projectors interfered with eachother resulting in a loss of data. In addition, the images captured bythis structured light systems need to be fit together like athree-dimensional jigsaw puzzle, and required that markers be placed onthe subject in order to facilitate this registration process.

SUMMARY OF THE INVENTION

We have developed a new image capturing system that captures accuratethree-dimensional images of objects that is configured such that theobject having its image captured does not have to be stationary or fixedin one particular orientation. The system of the invention will capturea three-dimensional digitized image of the entirety of an object eventhough the object may move in a generally non-predetermined mannerwithin a predetermined space. A sequence of instantaneousthree-dimensional images may be captured to provide a movie of theobject as it moves.

A method for capturing three-dimensional images of object in accordancewith the invention includes the step of providing a plurality of imagecapturing device groups. Each group comprises a plurality of imagecapturing devices. The method includes positioning the image capturingdevices to define a space wherein an object may be disposed. Inaccordance with one aspect of the invention, the object is movablewithin the space. The method further includes positioning the imagecapturing device groups such that each group is positioned to capture agroup of first images of a corresponding surface portion of the object.Each group of first images captures a substantially different surfaceportion of the object disposed within the space. The method includesoperating the plurality of image capturing device groups to capturefirst images of the object in the space, such that a plurality of thegroups of first images includes the entirety of the object within thespace. The method also includes providing processing apparatus toprocess the plurality of groups of first images to provide athree-dimensional image of the entirety of the object within the space.

In accordance with one aspect of the invention, the method includessimultaneously operating all of said image capturing devices of all ofsaid image capturing device groups to capture a plurality of said groupsof first images. The image capturing devices are operated at an imagecapture speed selected to be fast enough such that motion of the objecthas no significant effect on each of said first images.

In accordance with another aspect of the method of the invention,processing apparatus is used in accordance with a first algorithm toprocess each group of first images to produce an intermediatethree-dimensional image representation of the corresponding objectportion, whereby the processing apparatus processes all of plurality ofgroups of first images to produce a plurality of intermediatethree-dimensional images. The plurality of three-dimensional imagescovers the entirety of the object in the space.

Still in furtherance with the invention the processing apparatus is usedin accordance with a second algorithm to process the plurality ofintermediate three-dimensional images to produce a three-dimensionalimage of the object.

In the illustrative embodiment of the invention, CCD cameras areutilized as the image capturing devices.

In accordance with another aspect of the invention the positions of theplurality of image capturing devices are selected in accordance with apredetermined desired accuracy in said three-dimensional image.

In accordance with yet another aspect of the invention the number ofimage capturing devices is selected in accordance with a predeterminedaccuracy in said three-dimensional image.

The image capturing devices are operated at an image capture speedselected to be fast enough such that motion of the object has nosignificant effect on each of the first images, whereby, the capturespeed is fast enough to provide stop-action image capture of the object.

The system that we have developed is particularly useful as athree-dimensional (3D) image capture system to replace the manualcasting technique currently employed. The three-dimensional (3D) imagingsystem obtains a digital image of an infant's head. A system inaccordance with the principles of the invention provides a safe andnoninvasive method of instantaneously obtaining a complete 3D model ofan infant's head. The imaging system is fast (<1 second), safe,accurate, repeatable, quiet, captures an image for all skin tones, isimpervious to motion, and does not require the child to be restrained ina specific orientation. In contrast to the prior plaster castingmethods, that typically would not cast the face of the infant, thesystem of the invention permits full three-dimensional capture of theentirety of the infant's head including the face.

One embodiment of the system uses 18 triangulated digital cameras andprojects a random infrared pattern onto the infant's head toinstantaneously capture a 360° image of the infant's cranium includingthe face and the top of the head. The image is acquired in 0.008 secondsand processed for viewing in software in less than. Accuracy wascalculated to be +/−0.236 mm. Hazard analysis confirmed the system to besafe for direct continuous exposure. The data acquired is viewable on adisplay or printed out as a point cloud, wire frame, or surface, onwhich a digital photograph (i.e. texture) is automatically overlaid. Atexture overlay of the infant may be provided. The use of a textureoverlay permits advantageous visual confirmation of the identity of thepatient. Exporting the digital data to a milling machine or other modelproducing equipment creates physical models. Quantitative data (linearand surface measurements, curvature, and volumes) can be obtaineddirectly from the digital data.

When utilizing the system of the invention, it may be desirable toutilize a stockinet over the infant's head to compress the hair so thataccurate images of the infant's head may be obtained.

One particular advantage of the system of the invention is that eachthree-dimensional image is stored in a memory. Sequentially takenthree-dimensional images may be played back as a movie of the object inthree-dimensional format that may be viewed from any position around theobject.

BRIEF DESCRIPTION OF THE DRAWING

The invention will be better understood from a reading of the followingdetailed description of embodiments of the invention taken inconjunction with the drawing figures in which like reference designatorsare used to identify like elements, and in which:

FIG. 1 is a block diagram of an image capture system in accordance withthe invention;

FIG. 2 is a top view of a portion of the image capture system of FIG. 1;

FIG. 3 is a cross-section take along lines 3—3 of the image capturesystem portion of FIG. 2;

FIG. 4 is a representation of a random infrared image projected onto anobject for which an image is to be captured;

FIG. 5 is a top view of the image-capturing portion of a secondembodiment of a portion of an image in accordance with the invention;

FIG. 6 is a planar view of an image-capturing module utilized in theimage-capturing portion shown in FIG. 5;

FIG. 7 is a flow diagram of a calibration operation of a system inaccordance with the invention;

FIG. 8 is a flow diagram of operation of a system in accordance with theinvention; and

FIG. 9 is a detailed flow diagram of a portion of the flow diagram ofFIG. 8.

DETAILED DESCRIPTION

Turning now to FIG. 1, a block diagram of an image capture system 100 isshown in block diagram form. System 100 includes a plurality of imagecapturing apparatus 101. Each image capturing apparatus is operable suchthat a three-dimensional image is captured for a surface portion of anobject that is disposed within the field of view of the image capturingapparatus.

The image capturing apparatus 101 are all coupled to and controlled byprocessing apparatus 105 via a bus 107. In addition processing apparatus105 has associated with it program memory 109 and data memory 111. Itwill be understood by those skilled in the art that processing apparatus105 may include one or more processors that are commercially availablefrom a wide variety of sources. The processors may utilized the Pentium4 or Itanium type chips, both available from Intel Corporation andincluded in a large number of commercially available processors. Programmemory 109 and data memory 111 may be the same memory, or each maycomprise a plurality of memory units.

Program memory 109 includes an image-processing or second algorithm thatis utilized to process digitized three-dimensional images of surfaceportions provided by image capturing apparatus 101 to produce adigitized image of the entirety of an object.

In operation, processor apparatus 105 controls image capture apparatus101 such that all of image capture apparatus 101 are simultaneouslyoperated to capture digitized first images of corresponding surfaceportions of an object. The digitized first images are uploaded into datamemory 111 under control of processor apparatus 105.

Processor apparatus 105 operates on the digitized first images stored inmemory 111 in accordance with the second algorithm stored in memory 109to produce a composite three-dimensional digitized image from all of diefirst digitized images. The composite three-dimensional digital image isstored in memory 111 by processor 105. A display 113 coupled toprocessor apparatus 105 may be used to display the three-dimensionalcomposite image of the object.

The plurality of image capturing apparatus 101 are arranged to define aspace 200 within which a three-dimensional image is captured of anobject 201. As shown in FIGS. 2 and 3 the image capturing apparatus 101are arranged to define a space 200 in the shape of a hemisphere.Although the illustrative embodiment defines a hemispherical shape, itwill be understood by those skilled in the art that the defined spacemay be of a different configuration. It should also be apparent to thoseskilled in the art that the principles of the invention are not limitedto the positioning of image capturing apparatus to any particular shapeobject 201. For certain objects 201, the image capturing apparatus maydefine a full sphere. In other implementations, the image capturingapparatus may define a space that is elongated in one or moredirections. It will also be apparent to those skilled in the art thatthe size of the space 200 will be determined by the characteristics ofthe plurality of image capturing apparatus.

The number and positioning of image capturing apparatus 101 are selectedto achieve a predetermined accuracy and resolution. The image capturespeed of the image capturing apparatus 101 is selected to provide a“stop-action” image of the object 201. Thus, for example, conventionalphotographic speeds may be used to determine the top speed of an object201 that moves within the space 200. To the extent that an object 201extends outside of space 200, that portion 201A of object 201 that iswithin space 200 will be image captured such that the entirety of thatportion 201 A that is within space 200 will captured as a digitizedthree-dimensional image.

In the illustrative embodiment of the invention, each image capturingapparatus 101 includes a plurality of digital cameras 102 such as CCD(charge coupled device) cameras 102 and a projector 104. Each CCD camera102 is a high-resolution type camera of a type that is commerciallyavailable. Each projector 104 projects a pattern onto the object tofacilitate processing of the images captured by the plurality of digitalcameras 102 within an image capturing apparatus 101 into athree-dimensional image of a corresponding portion of the object 201.Projector 104 projects a random infrared pattern 401 as shown in FIG. 4onto the object 201 that permits an algorithm to easily utilizetriangulation to generate a digitized three-dimensional representationof the corresponding portion of object 201.

The CCD cameras 102 and projectors 104 may be supported on one or moresupports such as the representative supports or support members 301, 303shown in FIG. 3.

A particularly useful application of the system of the invention is foruse in capturing three-dimensional images of the totality of an infant'shead. Producing a three-dimensional image of an infant is particularlydifficult because infants do not remain motionless. Furthermore themotion that an infant may make is somewhat unpredictable. The infant maymove his or her head in one direction while tilting and rotating it. Themotion may be smooth or it may be jerky. The infant may move his head inone direction while rotating it in the opposite direction. It thereforeis important that the system operate at a speed to capture the entiretyof the infant's head in one instant. To provide a system which utilizesa safe and noninvasive method of obtaining a 3D model of an infant'scranium, technological challenges had to be overcome that were notimmediately evident during the initial stages of development. To beuseful in a clinical setting, the system must be fast (<1s), safe,accurate, repeatable, quiet, capture all skin tones, be impervious tomotion, and not require the child to be restrained in a specificorientation. To be useful, the system captures a 360° image whichincludes the face, top of the head, and lower occiput/neck region. Aphotographic image of the child is acquired and can be seamlesslyoverlaid on the three-dimensional display of the head to guaranteepatient identification. The digital model is processed and visualizedwithin minutes to ensure that no data are missing before allowing thepatient to leave the office. Calibration and operation of the system issimple, fast, and robust enough to handle normal clinical operation.

Turning now to FIG. 5, one embodiment of system 100 that is particularlyuseful with infant head image capture comprises 18 triangulated digitalcameras 102. Cameras 102 are arranged onto three supports or modules501. Six cameras 102 are located in each module 501. Modules 501 arearranged in an equilateral triangle arrangement with each module 501located at a vertex. Twelve of the triangulated cameras 102 are used toobtain digital image information regarding the three-dimensional shapeof the infant's head 201. The remaining six cameras 102 capture digitalphotographs (i.e. texture data) of the child. A single projector 104 islocated in each of the three modules 501, and projects a random infraredspeckle pattern such as shown in FIG. 4 onto the child 201 at the momentthe image is taken. This pattern cannot be seen by the operator or thechild, but is visible to the 12 cameras 102 that obtain the digitalshape information.

It is important that the system is calibrated so that the digital dataaccurately represents the object or infant having its image captured.Turning to FIG. 7, calibration is accomplished by placing a calibrationobject into the center of the system at step 701 and then operating allof cameras 102 simultaneously with projectors 104 to simultaneouslycapture 12 images of the object at step 703. At step 705, using the 12images, along with information about the calibration standard itself,the precise location and orientation of each digital camera 102 withrespect to one another is determined. Data regarding each of thecamera's focal lengths obtained at step 707, and lens aberrationinformation obtained at step 709 are recorded with the location andorientation data are recorded at step 711 in a calibration file. Thiscalibration file is used later to reconstruct a 3D image of the childfrom 12 separate digital images.

To acquire the infant's image, the system operator first enters thepatient information into the system as indicated at step 801 of FIG. 8.The infant is placed into position as indicated at step 803. Both thechild 201 and parent are located in the center of the equilateraltriangle with the infant sitting on an adjustable, rotating stool. Theinfant 201 is supported by the parent, who may remain in the systemwhile the child is digitized. The infant's head is not restrained andmay move in motion having pivotal, rotational and translationcomponents. When the parent and infant are in position the systemoperator actuates system 100 to capture and simultaneously record 18images of the child at step 805. Within two and half minutes, imagesfrom the 12 shape cameras are reconstructed into a 360° digital modelusing the previously recorded calibration data. Texture data (i.e.digital photographs) are automatically overlaid on the model, althoughthe data may be viewed with or without this information. (FIGS. 3–6)Processing the 12 images into a single model can either be doneimmediately following the acquisition, or several images can be acquiredand processed at a later time. Preferably the image is displayed asindicted at step 807 and the image capture is verified at step 809. Theimage data of the obtained image is stored at step 811. If the imageobtained is not acceptable, new images may be captured, displayed andviewed.

Turning now to FIG. 9, the operation of system 100 in capturing an imageis shown in a more detailed flow diagram. At step 901, image capture isinitiated. Simultaneously, all projectors 104 are actuated at step 903and all cameras 102 are operated at step 904. The resulting digitalimages are downloaded from all of cameras 102 to processor 105 at step907 and stored in memory 111 at step 909. The data from cameras 102 in atriangulation pair are processed in accordance with a first algorithm ina program module from memory 109 at step 911 to produce intermediatethree-dimensional digital images of corresponding portions of the objector infant's head 201. The intermediate three-dimensional digital imagesare stored in memory 111 at step 913. Processor 105 then processes theintermediate three-dimensional images at step 915 in accordance with asecond algorithm in a program module from memory 109 to produce acomplete three-dimensional digital image file for the whole or entireobject that is within space 200 or the infant's whole or entire head 201within space 200. Processor 105 stores the entire three-dimensionalimage file in memory 111 for later use.

Accuracy is often reported as a ‘mean’ or ‘average’ difference betweenthe surfaces, however in this situation reporting an average isinaccurate because the surface created from the new data set may havecomponents that lay both above (+) and below (−) the reference surface.These positive and negative values offset each other resulting in a meanvalue around zero. In situations where this cancellation can occur, itis necessary to report the mean difference as a Root Mean Square (RMS).The root mean square statistic reports typical magnitudes of deviationswithout regard for positive or negative values.

By using a best-fit analysis type algorithm, the RMS mean deviationbetween the surfaces was calculated to be +/−0.236 mm, with over 95% ofthe data clearly falling within +/−0.5 mm.

A hazard analysis performed on the system of the invention demonstratesthat, system 100 is safe. System 100 will not cause retinal blue-lightor infrared eye injuries. Retinal thermal injury may only be caused ifthe infant is in the system 150,000 times longer than needed to capturethe three-dimensional image.

One advantage of system 100 is that the image acquisition is fast enoughso that motion of the infant does not present a problem for imagecapture, or affect the accuracy of the data acquired. If the image couldnot be captured ‘instantaneously’ it would be necessary to fixture orrestrain the child in one position in order to ensure there would be nomotion artifact in the data.

Capture of all 18 images (12 shape, 6 texture) is accomplished throughutilization of an interface 103 in FIG. 1 that functions single framegrabber circuit board. At image capture time processor 105 generates asignal via interface 103 that is sent out to all cameras 102 tosimultaneously record the digital images for processing. Each camera 102records a digital image at a speed of 1/125^(th) of a second (0.008seconds). This nearly instantaneous capture has allowed us to capturedigitized images of infants in motion. The symmetrical placement of thecameras around the periphery also ensures that the child's specificorientation and position within the space 200 is not a factor.

Post-processing of intermediate images into a single digital model isdone quickly so that the complete image can be reviewed before allowingthe patient to leave the office. In an illustrative embodiment of thesystem the complete image may be produced in less than three minutes

Once processed, the data may be viewed in a variety of formats thatinclude point cloud, wire frame, surface, and texture. As the nameimplies, the image presented as a point cloud consists of hundreds ofthousands of independent single points of data. A wire frame, sometimesreferred to as a polygon or triangulated mesh, connects three individualdata points into a single polygon with each data point being referred toas a vertex. A wire frame is the first step in viewing the individualdata points as one continuous connected ‘surface’. Once connected as aseries of polygons, mathematical algorithms are applied to convert thefaceted, polygonized surface into a smooth continuous surface upon whichmore complex measurements and mathematical analyses can be performed.While point cloud, wire frame and surface rendering are the most commonmethods for viewing digital data, it is also possible to obtain textureinformation which is seamlessly overlaid on the model. Texture data isoverlaid onto the digital image to ensure proper patient identification.

The projection of a random infrared pattern by projectors 104, ratherthan the more a grid or line pattern, overcomes problems withinterference and enables digital capture of the entire infant head orobject 201 in a single shot. This includes a 360° image including theface, top of the head, and neck/occipital region all acquired within0.008 seconds. System 100 is safe, impervious to motion, does notrequire the infant to be sedated or restrained, and images can be viewedwithin 2–3 minutes of acquisition. The data can be viewed in a widevariety of formats including point cloud, wire frame, surface andtexture (photo) and can be exported to create physical models usingstereo lithography or carved on a 5-axis milling machine. Quantitativedata (linear and surface measurements, curvature, and volumes) can alsobe obtained directly from the digital data.

The three-dimensional images are stored in memory 111 of system 100 asshown in FIG. 1. A sequence of three-dimensional images may be capturedand stored in memory 111 for later playback. The three-dimensionalimages may be sequentially displayed to produce a three-dimensionalmovie of the infant or object in motion. A particular feature is thatsince each three-dimensional image is taken of the entirety of theinfant's head or object, the view of the image on playback may bechanged to observe different portions of the infant's head or object asit moves. The view may be taken from any point on the exterior of theimage capture space defined by the digital cameras.

The invention has been described in terms of various embodiments. Itwill be appreciated by those skilled in the art that various changes andmodifications may be made to the embodiments without departing from thespirit or scope of the invention. It is not intended that the inventionbe limited to the embodiments shown and described. It is intended thatthe invention include all foreseeable modifications to the embodimentsshown and described. It is intended that the invention be limited inscope only by the claims appended hereto.

1. A method for capturing three-dimensional images of objects, saidmethod comprising: providing a plurality of image capturing devicegroups, each of said groups comprising at least one image-capturingdevice; positioning said plurality of image capturing device groups todefine a space wherein an object may be disposed and the object beingmovable within said space; further positioning said plurality of imagecapturing device groups such that each group is positioned to capture agroup of first images of a corresponding surface portion of the objectdisposed within said space, each said group of first images captured bythe corresponding each of said image capturing groups capturing asubstantially different surface portion of the object disposed withinsaid space; operating said plurality of image capturing device groups tocapture first images of the object in said space without constrainingthe object, such that a plurality of said groups of first imagesincludes the entirety of the object within and including the top of saidobject; providing processing apparatus to process said plurality of saidgroups of first images to provide a three-dimensional image of theentirety of said object within said space.
 2. A method in accordancewith claim 1, comprising: simultaneously operating all of said imagecapturing devices of all of said image capturing device groups tocapture a plurality of said groups of first images.
 3. A method inaccordance with claim 2, wherein: operating all of said image capturingdevices at an image capture speed selected to be fast enough such thatmotion of said object has no significant effect on each of said firstimages.
 4. A method in accordance with claim 3, wherein: said timeperiod is short enough to provide a stop-action image capture.
 5. Amethod in accordance with claim 4, comprising: utilizing said processingapparatus in accordance with a first algorithm to process each saidgroup of first images to produce an intermediate three-dimensional imagerepresentation of said corresponding object portion; whereby saidprocessing means processes all of plurality of groups of first images toproduce a plurality of intermediate three-dimensional images, saidplurality of three-dimensional images covering substantially theentirety of the object in said space.
 6. A method in accordance withclaim 5, comprising: providing a second algorithm; utilizing saidprocessing apparatus in accordance with said second algorithm to processsaid plurality of intermediate three-dimensional images to produce athree-dimensional image of the object.
 7. A method in accordance withclaim 5, comprising: utilizing a CCD type camera for each of said imagecapturing devices.
 8. A method in accordance with claim 7, comprising:providing one or more mounting structures to retain each imaging capturedevice of each group of said groups of image capturing devices in fixedpredetermined positional relationship to the other of said imagecapturing devices in said group.
 9. A method in accordance with claim 8,comprising: providing one or more positioning structures to retain eachsaid group in a second predetermined positional relationship to theother groups of said groups of image capturing devices.
 10. A method inaccordance with claim 1, comprising: selecting the positions of saidplurality of image capturing devices in accordance with a predetermineddesired accuracy and a predetermined desired resolution in saidthree-dimensional image.
 11. A method in accordance with claim 10,comprising: simultaneously operating all of said image capturing devicesof all of said image capturing device groups to capture plurality ofsaid groups of first images.
 12. A method in accordance with claim 11,comprising: selecting the number of said image capturing devices inaccordance with said predetermined accuracy and said predetermineddesired resolution in said three-dimensional image.
 13. A method inaccordance with claim 12, comprising: operating all of said imagecapturing devices at an image capture speed selected to be fast enoughsuch that motion of said object has no significant effect on each ofsaid first images; whereby, said capture speed is fast enough to providestop-action image capture of the object.
 14. A method in accordance withclaim 13, comprising: utilizing said processing apparatus in accordancewith a first algorithm to process each said group of first images toproduce an intermediate three-dimensional image representation of saidcorresponding object portion; whereby said processing apparatusprocesses all of plurality of groups of first images to produce aplurality of intermediate three-dimensional images, said plurality ofthree-dimensional images covering substantially the entirety of theobject in said space.
 15. A method in accordance with claim 14,comprising: providing a second algorithm; utilizing said processingapparatus in accordance with said second algorithm to process saidplurality of intermediate three-dimensional images to produce acompleted three-dimensional image of the portion of the object in saidspace.
 16. A method in accordance with claim 13, comprising: utilizing aCCD type camera for each of said image capturing devices.
 17. A methodin accordance with claim 16, comprising: providing one or more mountingstructures to retain each imaging capture device of each group of saidgroups of image capturing devices in fixed predetermined positionalrelationship to the other of said image capturing devices in said group.18. A method in accordance with claim 17, comprising: providing one ormore positioning structures to retain each said group in a secondpredetermined positional relationship to the other groups of said groupsof image capturing devices.
 19. Apparatus for capturingthree-dimensional images of a non-stationary object comprising: aplurality of image capturing device groups, each of said groupscomprising a plurality of image capturing devices; said plurality ofimage capturing device groups positioned such that each group ispositioned to capture a group of first images of a corresponding surfaceportion of a non-stationary object, each said group of first imagescaptured by the corresponding each of said image capturing groupscapturing a substantially different surface portion of thenon-stationary object; said plurality of image capturing device groupspositioned such that a plurality of said groups of first images includesthe entirety of the non-stationary object disposed within apredetermined space; processing apparatus to process said plurality ofsaid groups of first images to provide a three-dimensional image of theentirety of the non-stationary object portion; and said processingapparatus operating all of said image capturing devices such that saidfirst images are captured without restraining movement of thenon-stationary object.
 20. Apparatus in accordance with claim 19,comprising: said processing apparatus simultaneously operates all ofsaid image capturing devices of all of said image capturing devicegroups to capture plurality of said groups of first images. 21.Apparatus in accordance with claim 20, wherein: each of said imagecapturing devices of all of said image capturing devices captures eachof said first images in a time period that is short enough such thatmotion of the non-stationary object has no significant effect on each ofsaid first images.
 22. Apparatus in accordance with claim 21, wherein:said time period is short enough to provide a stop-action image capture.23. Apparatus in accordance with claim 22, comprising: said processingapparatus operating in accordance with a first algorithm to process eachsaid group of first images to produce an intermediate three-dimensionalimage representation of said corresponding non-stationary objectportion; and said processing apparatus being operated to processes allof plurality of groups of first images to produce a plurality ofintermediate three-dimensional images, said plurality ofthree-dimensional images covering the entirety of the non-stationaryobject portion disposed in said pre-determined space.
 24. Apparatus inaccordance with claim 23, wherein: each of said image capturing devicescomprises a CCD type camera.
 25. Apparatus in accordance with claim 24,comprising: one or more mounting structures disposed to retain eachimaging capture device of each group of said groups of image capturingdevices in fixed predetermined positional relationship to the other ofsaid image capturing devices in said group.
 26. Apparatus in accordancewith claim 25, comprising: one or more positioning structures disposedto support and retain each said group in a second predeterminedpositional relationship to the other groups of said groups of imagecapturing devices.
 27. Apparatus in accordance with claim 19, wherein:said plurality of image capturing devices determines said predeterminedspace.
 28. Apparatus in accordance with claim 27, comprising: saidprocessing apparatus being utilized to simultaneously operate all ofsaid image capturing devices of all of said image capturing devicegroups to capture plurality of said groups of first images. 29.Apparatus in accordance with claim 28, wherein: each of said imagecapturing devices of all of said image capturing devices captures eachof said first images in a time period that is short enough such thatmotion of the object has no significant effect on each of said firstimages.
 30. Apparatus in accordance with claim 29, wherein: said timeperiod is short enough to provide a stop-action image capture. 31.Apparatus in accordance with claim 30, comprising: said processingapparatus being operated in accordance with a first algorithm to processeach said group of first images to produce an intermediatethree-dimensional digital image representation of said correspondingobject portion; said processing means processing all of plurality ofgroups of first images to produce a plurality of intermediatethree-dimensional digital images, said plurality of three-dimensionaldigital images covering substantially the entirety of the object portiondisposed within said predetermined space.
 32. Apparatus in accordancewith claim 31, wherein: each of said image capturing devices comprises aCCD type camera.
 33. Apparatus in accordance with claim 32, comprising:one or more mounting structures to retain each imaging capture device ofeach group of said groups of image capturing devices in fixedpredetermined positional relationship to the other of said imagecapturing devices in said group.
 34. Apparatus in accordance with claim33, comprising: one or more positioning structures to retain each saidgroup in a second predetermined positional relationship to the othergroups of said groups of image capturing devices.
 35. Apparatus inaccordance with claim 31, comprising: providing a second algorithm; saidprocessing apparatus being operated in accordance with said secondalgorithm to process said plurality of intermediate three-dimensionaldigital images to generate a three-dimensional digital images coveringsubstantially the entirety of the object portion disposed within saidpredetermined space.
 36. Apparatus in accordance with claim 31,comprising: said processing apparatus being operated to generate athree-dimensional digital image covering substantially the entirety ofthe object portion disposed within said predetermined space. 37.Apparatus for capturing three-dimensional images of an object,comprising: a plurality of image capturing device groups, each of saidgroups comprising a plurality of digital cameras; said plurality ofimage capturing device groups being positioned to define an imagecapturing space, said plurality of image capturing device groups beingpositioned to capture a group of first digital images of a correspondingsurface portion of an non-stationary object disposed in said space andmovable within said space, each said group of first digital imagescaptured by the corresponding each of said image capturing groupscapturing a substantially different surface portion of saidnon-stationary object; said plurality of image capturing device groupsbeing positioned such that a plurality of said groups of first digitalimages includes the entirety of said non-stationary object in saidspace; a plurality of pattern projectors, each of said patternprojectors being associated with at least a corresponding one of saidimage capturing device groups for projecting a predetermined pattern onsaid non-stationary object disposed in said space; processing apparatusto process said plurality of said groups of first digital images toprovide a three-dimensional image of the entirety of said non-stationaryobject disposed within said space.
 38. Apparatus in accordance withclaim 37, comprising: said processing apparatus simultaneously operatingall of said digital cameras of all of said image capturing device groupsand all of said pattern projectors to capture a plurality of said groupsof first digital images.
 39. Apparatus in accordance with claim 38,wherein: each of said digital cameras is operable to capturecorresponding ones each of said first digital images in a time periodthat is short enough such that motion of said object in said space hasno significant effect on each of said first images.
 40. Apparatus inaccordance with claim 39, wherein: said time period is short enough toprovide a stop-action image capture of said object.
 41. Apparatus inaccordance with claim 40, comprising: said processing apparatus beingoperated in accordance with a first algorithm to process each said groupof first digital images to produce an intermediate three-dimensionaldigital image representation of said corresponding object portion;whereby said processing apparatus operates to processes all of pluralityof groups of first images to produce a plurality of intermediatethree-dimensional digital images, said plurality of three-dimensionaldigital images covering substantially the entirety of the portion of theobject disposed in said space.
 42. Apparatus in accordance with claim41, wherein: said digital cameras comprises a CCD type camera. 43.Apparatus in accordance with claim 42, comprising: one or more mountingstructures retaining each digital camera of each group of said groups ofimage capturing devices in fixed predetermined positional relationshipto the other of said image capturing devices in said group. 44.Apparatus in accordance with claim 43, comprising: one or morepositioning structures retaining each said group in a secondpredetermined positional relationship to the other groups of said groupsof image capturing devices.